// --------------------------------------------------------------------------------------------------------------------
// <copyright file="TrajectoryWaypointsTest.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
// </copyright>
// --------------------------------------------------------------------------------------------------------------------

namespace Test.Robotics.Manipulation.Runtime.MotionControl
{
    using System;
    using Microsoft.Robotics.Manipulation;
    using Microsoft.Robotics.Manipulation.Runtime.MotionControl;
    using Microsoft.Robotics.Runtime;
    using Microsoft.Robotics.Numerics;
    using Microsoft.VisualStudio.TestTools.UnitTesting;

    /// <summary>
    /// Test TrajectoryWaypoints
    /// </summary>
    [TestClass]
    public class TrajectoryWaypointsTest
    {
        /// <summary>
        /// Test to create a TrajectoryWaypoints
        /// </summary>
        [Priority(0)]
        [TestMethod]
        [TestCategory("Unit")]
        public void TrajectoryWaypointConstructorTest()
        {
            TrajectoryWaypoints waypoints = new TrajectoryWaypoints(new double[5, 10]);
        }

        /// <summary>
        /// Test of TrajectoryWaypoints indexer
        /// </summary>
        [Priority(0)]
        [TestMethod]
        [TestCategory("Unit")]
        public void TrajectoryWaypointIndexerTest()
        {
            int numDof = 5;
            int numPoints = 10;

            double[,] points = InitializePoints(numDof, numPoints);

            TrajectoryWaypoints waypoints = new TrajectoryWaypoints(points);

            for (int i = 0; i < numDof; ++i)
            {
                for (int j = 0; j < numPoints; ++j)
                {
                    Assert.AreEqual(points[i, j], waypoints[i, j]);
                }
            }
        }

        /// <summary>
        /// Test TrajectoryWaypoints GetCopyAsArray() method.
        /// </summary>
        [Priority(0)]
        [TestMethod]
        [TestCategory("Unit")]
        public void TrajectoryWaypointGetCopyAsArrayTest()
        {
            int numDof = 5;
            int numPoints = 10;

            double[,] points = InitializePoints(numDof, numPoints);

            TrajectoryWaypoints waypoints = new TrajectoryWaypoints(points);

            double[,] pointsOut =  waypoints.GetCopyAsArray();

            for (int i = 0; i < numDof; ++i)
            {
                for (int j = 0; j < numPoints; ++j)
                {
                    Assert.AreEqual(points[i, j], pointsOut[i, j]);
                }
            }
        }

        /// <summary>
        /// Initialize an array of points where each entry is equal to DOF# * Point#
        /// </summary>
        /// <param name="numDof">Number of degrees of freedom</param>
        /// <param name="numPoints">Number of points.</param>
        /// <returns>2-dim array of waypoints.</returns>
        private double[,] InitializePoints(int numDof, int numPoints)
        {
            double[,] points = new double[numDof, numPoints];

            for (int i = 0; i < numDof; ++i)
            {
                for (int j = 0; j < numPoints; ++j)
                {
                    points[i, j] = i * j;
                }
            }

            return points;
        }
    }
}
